refactor: merged manger task into statemachine task

include/sta/tacos/statemachine.hpp

@@ -69,6 +69,9 @@
 
 #include <functional>
 #include <tuple>
+#include <list>
+#include <vector>
+#include <memory>
 #include <set>
 #include <algorithm>
 
@@ -134,11 +137,15 @@ namespace sta
 		public:
 			/**
 			 * @brief The global event signaling a state change.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			static RtosEvent stateChangeEvent;
 
 			/**
 			 * @brief Getter function for the singleton instance.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			static Statemachine* instance()
 			{
@@ -146,7 +153,7 @@ namespace sta
 
 				if (!_instance)
 				{
-					// Create the manager singleton instance.
+					// Create the statemachine singleton instance.
 					Statemachine::_instance = new Statemachine();
 				}
 
@@ -155,6 +162,8 @@ namespace sta
 
 			/**
 			 * @brief Returns the statemachine's current state.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			uint16_t getCurrentState() const;
 
@@ -165,6 +174,8 @@ namespace sta
 			 * @param to The state to transition to.
 			 * @param lockout The minimum number of milliseconds we expect to stay in this state. This is used to block premature transitions.
 			 * @param force If true, the state transition will be executed regardless of the current state.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			void requestStateTransition(uint32_t from, uint32_t to, uint32_t lockout = 0, bool force = false, bool publish = true);
 
@@ -175,9 +186,27 @@ namespace sta
 			 * @param to The state to transition to.
 			 * @param millis the number of milliseconds to wait before triggering the transition.
 			 * @param lockout The minimum number of milliseconds we expect to stay in this state. This is used to block premature transitions.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			void requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout = 0, bool publish = true);
 
+			/**
+			 * @brief Register a thread to be managed by the statemachine.
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			void registerThread(std::shared_ptr<TacosThread> thread, std::set<uint16_t> states);
+
+			/**
+			 * @brief Get the Active Threads object
+			 * 
+			 * @return std::vector<std::shared_ptr<TacosThread>> 
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			std::vector<std::shared_ptr<TacosThread>> getActiveThreads();
+
 			void init() override;
 			void func() override;
 
@@ -208,9 +237,32 @@ namespace sta
 			 * @brief Starts the lockoutTimer for the desired duration.
 			 * 
 			 * @param millis The duration of the timer in milliseconds.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			void setLockoutTimer(uint32_t millis);
 
+			/**
+			 * @brief Forces only threads of current state to run.
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			void updateThreads();
+
+			/**
+			 * @brief Starts all threads which should be running in the given state. Does nothing if the state is already running.
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			void startThreads(uint16_t state);
+
+			/**
+			 * @brief Stops all threads which should not be running in the given state.
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			void stopThreads(uint16_t state);
+
 		private:
 			uint16_t currentState_;
 
@@ -218,6 +270,13 @@ namespace sta
 			RtosTimer failsafeTimer_;
 
 			RtosQueue<StateTransition> queue_;
+
+			/**
+			 * @brief Pointers to all threads which are managed by the statemachine.
+			 *
+			 * @ingroup tacos_statemachine
+			 */
+			std::vector<std::shared_ptr<TacosThread>> threads_[STA_TACOS_NUM_STATES];
 		};
 	}  // namespace tacos
 }  // namespace sta